By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. The article surveys developments in three basic problems regarding stability and design of switched systems. These problems are: stability for arbitrary switching sequences, stability for certain useful classes of switching sequences, and construction of stabilizing switching sequences. We also provide motivation for studying these problems by discussing how they arise in connection with various questions of interest in control theory and applications.

Basic problems in stability and design of switched systems

This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

System Identification I

Formation and control of optimal trajectory in human multijoint arm movement : minimum torque-change model

The aim of this paper is to review the state-of-the-art of Field Programmable Gate Array (FPGA) technologies and their contribution to industrial control applications. Authors start by addressing various research fields which can exploit the advantages of FPGAs. The features of these devices are then presented, followed by their corresponding design tools. To illustrate the benefits of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology, which is also discussed. The use of FPGAs to implement artificial intelligence-based industrial controllers is then briefly reviewed. The final section presents two short case studies of Neural Network control systems designs targeting FPGAs.

https://hal-centralesupelec.archives-ouvertes.fr/hal-01337007/document

FPGAs in Industrial Control Applications

This paper presents an adaptive Lyapunov-based controller with integral action for small-scale helicopters carrying out airdrop missions. The proposed controller is designed via adaptive backstepping. Unlike the approximate modeling approaches, where the coupling effect of the helicopter is neglected, the proposed method is developed according to a complete dynamic model such that the closed-loop helicopter system is guaranteed to be globally ultimately bounded. Two numerical simulations with airdrops are conducted to exemplify the merits of the proposed controller. Through simulation results, the proposed control method is shown to outperform the well-known controller in Mahony and Hamel, Int. J. Robust Nonlinear Control, Vol. 14, No. (12), pp. 1035–1059 (2004). 



Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Adaptive backstepping integral control of a small-scale helicopter for airdrop missions

This paper presents techniques for dynamic modeling and control of a Ball robot (Ballbot) with inverse mouse-ball drive that is accomplished by simultaneously activating two independent brushless motors. Under this driving scheme, a completely dynamic model of the robot moving in a flat terrain is established constructed based on Lagrangian mechanics. With the model, a sliding-mode control is proposed based on backstepping to accomplish robust balancing and agile path tracking of the robot with exogenous disturbances. Computer simulations are conducted for illustration of the effectiveness of the proposed modeling and control method.

Dynamic modeling and sliding-mode control of a Ball robot with inverse mouse-ball drive

This paper presents a modified stripe-RGBW (MS-RGBW) color filter structure to keep the same high resolution, and obtain a higher brightness in comparison with conventional RGB color filters. An image-processing engine is also designed to achieve sharp text image for thin-film-transistor (TFT) LCD with the MS-RGBW color filter. In MS-RGBW color filter structure, each pixel with three sub-pixels is the same area to that in the conventional RGB stripe color filter, and each row shifts two sub-pixels. The image-processing engine consists of two new algorithms: RGB-RGBW mapping algorithm and sub-pixel rendering algorithm. The RGB-RGBW mapping algorithm obtains a new RGBW image data without distortion in hue and saturation. The sub-pixel rendering algorithm transfers RGBW data into a MS-RGBW color filter structure in order to achieve sharp text image. Numerous simulation results are provided to illustrate the merits and performance of the proposed techniques. The usefulness of the proposed techniques for mobile phone displays is exemplified by conducting several experimental results on a 2.2-inch TFT LCD.

A Modified Stripe-RGBW TFT-LCD with Image-Processing Engine for Mobile Phone Displays

This paper presents a fuzzy longitudinal control system with car-following speed ranging from 0 to 120 km/h. This controller achieves the main functions of both adaptive cruise control (ACC) and Stop & Go control. To make suitable for the aftermarket, vacuum boosters are used to control the throttle and the braking pedal, thus circumventing the technical difficulties of using engine management system and anti-brake system. Several car following experiments were conducted to show that the proposed fuzzy longitudinal controller is capable of achieving the requirements of comfort and safety, and giving a satisfactory performance at high and low speed conditions. For the covering abstract see ITRD E140665.

Ching-Chih Tsai

Papers

Adaptive backstepping integral control of a small-scale helicopter for airdrop missions

Dynamic modeling and sliding-mode control of a Ball robot with inverse mouse-ball drive

A Modified Stripe-RGBW TFT-LCD with Image-Processing Engine for Mobile Phone Displays

Fuzzy Longitudinal Controller Design and Experimentation for Adaptive Cruise Control and Stop & Go

Adaptive Trajectory Tracking and Stabilization for Omnidirectional Mobile Robot with Dynamic Effect and Uncertainties